PxVehicleComputeSuspensionSweep

Defined in include/vehicle2/suspension/PxVehicleSuspensionHelpers.h

inline void PxVehicleComputeSuspensionSweep(

const PxVehicleFrame &frame,

const PxVehicleSuspensionParams &suspensionParams,

const PxReal steerAngle,

const PxTransform &rigidBodyPose,

PxTransform &start,

PxVec3 &dir,

PxReal &dist,

)

Compute the start pose, direction and length of a suspension scene sweep.

Note

start, dir and dist together describe a sweep that begins with the wheel placed at maximum compression and ends at the maximum droop pose.

Parameters:

• frame – [in] is a description of the longitudinal, lateral and vertical axes.

• suspensionParams – [in] describes the suspension frame and the maximum suspension travel.

• steerAngle – [in] is the yaw angle of the wheel in radians.

• rigidBodyPose – [in] is the pose of the rigid body in the world frame.

• start – [out] is the start pose of the sweep in the world frame.

• dir – [out] is the direction of the sweep in the world frame.

• dist – [out] is the length of the sweep.